/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2024 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "drv_SCA_arm.h"
#include "stdio.h"
#include "delay.h"
// #include "retarget.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
Device_SCA_Arm_t SCA_Arm_lwb;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MPU_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void)
{

	/* USER CODE BEGIN 1 */

	/* USER CODE END 1 */

	/* MPU Configuration--------------------------------------------------------*/
	MPU_Config();

	/* MCU Configuration--------------------------------------------------------*/

	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
	HAL_Init();

	/* USER CODE BEGIN Init */

	/* USER CODE END Init */

	/* Configure the system clock */
	SystemClock_Config();

	/* USER CODE BEGIN SysInit */

	/* USER CODE END SysInit */

	/* Initialize all configured peripherals */
	MX_GPIO_Init();
	MX_DMA_Init();
	MX_USART1_UART_Init();
	MX_USART2_UART_Init();
	MX_ADC1_Init();
	MX_TIM2_Init();
	MX_TIM3_Init();
	MX_TIM4_Init();
	MX_TIM1_Init();
	MX_TIM6_Init();
	MX_UART4_Init();
	MX_TIM7_Init();
	/* USER CODE BEGIN 2 */
	// RetargetInit(&huart4);
	delay_init(480);
	SCA_Arm_Init("SCA_Arm_test", &SCA_Arm_lwb, &huart1);
	// printf("init successfully\n");
	/* USER CODE END 2 */

	/* Infinite loop */
	/* USER CODE BEGIN WHILE */
	while (1)
	{
		/* USER CODE END WHILE */

		/* USER CODE BEGIN 3 */
		if (SCA_Arm_lwb.ArmCmdActionSemaphore == 1)
		{
			SCA_Arm_lwb.ArmCmdActionSemaphore = 0;
			SCA_Arm_ArmCmdAction(&SCA_Arm_lwb);
		}

		if (SCA_Arm_lwb.SA100.SA100_Duty.CapFlag == 1)
		{
			SCA_Arm_lwb.SA100.SA100_Duty.CapFlag = 0;
			SA100_Calibrate_n_Filter(&SCA_Arm_lwb.SA100);
		}
		if (SCA_Arm_lwb.DebugMsgPrintSemaphore == 1)
		{
			SCA_Arm_lwb.DebugMsgPrintSemaphore = 0;
			// printf("SA100 angel is: %.2f, %.2f\n", SCA_Arm_lwb.SA100.raw_angle, SCA_Arm_lwb.SA100.filtered_angle);
			printf("motor kp kd is: %.2f, %.2f\n", SCA_Arm_lwb.motor[0].motor_cmd.kp_des, SCA_Arm_lwb.motor[0].motor_cmd.kd_des);
			// printf("Motor: %.5f, %.5f, %.5f\n", SCA_Arm_lwb.motor[0].motor_state.q, SCA_Arm_lwb.motor[1].motor_state.q, SCA_Arm_lwb.motor[2].motor_state.q);
		}

		if (SCA_Arm_lwb.MotorCmdPusSemaphore == 1)
		{
			SCA_Arm_lwb.MotorCmdPusSemaphore = 0;
			Motor_GO_M8010_Send_Receive(&SCA_Arm_lwb.motor[SCA_Arm_lwb.motorID_index], &SCA_Arm_lwb.motor_com);
		}
		// delay_us(100);
		// HAL_Delay(1);
	}
	/* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void)
{
	RCC_OscInitTypeDef RCC_OscInitStruct = {0};
	RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

	/** Supply configuration update enable
	 */
	HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);

	/** Configure the main internal regulator output voltage
	 */
	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

	while (!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY))
	{
	}

	__HAL_RCC_SYSCFG_CLK_ENABLE();
	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);

	while (!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY))
	{
	}

	/** Initializes the RCC Oscillators according to the specified parameters
	 * in the RCC_OscInitTypeDef structure.
	 */
	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
	RCC_OscInitStruct.HSEState = RCC_HSE_ON;
	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
	RCC_OscInitStruct.PLL.PLLM = 1;
	RCC_OscInitStruct.PLL.PLLN = 120;
	RCC_OscInitStruct.PLL.PLLP = 2;
	RCC_OscInitStruct.PLL.PLLQ = 5;
	RCC_OscInitStruct.PLL.PLLR = 2;
	RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
	RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
	RCC_OscInitStruct.PLL.PLLFRACN = 0;
	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
	{
		Error_Handler();
	}

	/** Initializes the CPU, AHB and APB buses clocks
	 */
	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2 | RCC_CLOCKTYPE_D3PCLK1 | RCC_CLOCKTYPE_D1PCLK1;
	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
	RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
	RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
	RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
	RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
	RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
	RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;

	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
	{
		Error_Handler();
	}
}

/* USER CODE BEGIN 4 */
/**
 * @brief Callback function for TIM IC capture event.
 *
 * This function is called when a capture event occurs on TIM1 channel 4.
 * It reads the captured values and updates the capture index and flag accordingly.
 *
 * @param htim Pointer to the TIM_HandleTypeDef structure.
 */
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
{
	if (htim->Instance == TIM1)
	{
		if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_4)
		{
			CaptureDutyCycle(&SCA_Arm_lwb.SA100, htim);
		}
	}
}

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
	if (htim->Instance == TIM6)
	{
		SCA_Arm_lwb.DebugMsgPrintSemaphore = 1;
		SCA_Arm_lwb.MotorCmdPusSemaphore = 1;

		if (SCA_Arm_lwb.motorID_index == 3)
		{
			SCA_Arm_lwb.motorID_index = 0;
		}
		else
		{
			SCA_Arm_lwb.motorID_index++;
		}
	}
	else if (htim->Instance == TIM7)
	{
		SCA_Arm_lwb.motor_com.TimeOutFlag = 1;
	}
}

int fputc(int ch, FILE *f)

{

	HAL_UART_Transmit(&huart4, (uint8_t *)&ch, 1, 0xffff);

	return ch;
}
/* USER CODE END 4 */

/* MPU Configuration */

void MPU_Config(void)
{
	MPU_Region_InitTypeDef MPU_InitStruct = {0};

	/* Disables the MPU */
	HAL_MPU_Disable();

	/** Initializes and configures the Region and the memory to be protected
	 */
	MPU_InitStruct.Enable = MPU_REGION_ENABLE;
	MPU_InitStruct.Number = MPU_REGION_NUMBER0;
	MPU_InitStruct.BaseAddress = 0x0;
	MPU_InitStruct.Size = MPU_REGION_SIZE_4GB;
	MPU_InitStruct.SubRegionDisable = 0x87;
	MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
	MPU_InitStruct.AccessPermission = MPU_REGION_NO_ACCESS;
	MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_DISABLE;
	MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE;
	MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
	MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;

	HAL_MPU_ConfigRegion(&MPU_InitStruct);
	/* Enables the MPU */
	HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);
}

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void)
{
	/* USER CODE BEGIN Error_Handler_Debug */
	/* User can add his own implementation to report the HAL error return state */
	__disable_irq();
	while (1)
	{
	}
	/* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT
/**
 * @brief  Reports the name of the source file and the source line number
 *         where the assert_param error has occurred.
 * @param  file: pointer to the source file name
 * @param  line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t *file, uint32_t line)
{
	/* USER CODE BEGIN 6 */
	/* User can add his own implementation to report the file name and line number,
	   ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
	/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
